不整地走行移動ロボットの位置誤差を考慮したロバストな経路計画

概要

We propose a novel path planning method considering errors for off-load UGVs (unmanned ground vehicles) based on 3D terrain map information. Previous studies on path planning of the UGV traveling on rough terrain did not manage position uncertainties caoused by GPS and control velocities. The proposed method enables UGVs to generate the robust path in the large-scale terrain map.